CAV Traffic Control to Mitigate the Impact of Congestion from Bottlenecks: A Linear Quadratic Regulator Approach and Microsimulation Study
CAV Traffic Control to Mitigate the Impact of Congestion from Bottlenecks: A Linear Quadratic Regulator Approach and Microsimulation Study
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DOI：
10.1145/3636464
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发表时间：
2023-06
期刊：
影响因子：
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通讯作者：
Suyash C. Vishnoi;Junyi Ji;MirSaleh Bahavarnia;Yuhang Zhang;A. Taha;C. Claudel;D. Work
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文献类型：
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作者：
Suyash C. Vishnoi;Junyi Ji;MirSaleh Bahavarnia;Yuhang Zhang;A. Taha;C. Claudel;D. Work
本研究利用线性二次型调节器（LQR）理论衍生的新型控制器，研究了通过受控互联和自动驾驶车辆（cav）进行的交通控制。自动驾驶汽车排被建模为影响周围交通的移动瓶颈，其速度作为控制输入。提出了一种基于LQR理论的迭代控制器算法，并提出了一种允许惩罚队列速度突变的变体。控制器使用使用扩展单元传输模型（CTM）实现的lighhill - whitham - richards （LWR）模型，该模型考虑了容量下降现象，以真实地表示拥堵中的交通。分析了所提控制器各参数对控制性能的影响。通过交通控制实例验证了所提出的交通控制算法的有效性，并与文献中现有的比例积分（PI）和模型预测控制（MPC）控制器进行了比较。使用TransModeler交通微仿真软件进行案例研究，以测试所提出的控制器的可用性以及在现实环境中的现有控制器，并获得定性见解。观察到，所提出的控制器在两种设置下都能很好地减轻由固定瓶颈引起的阻塞的影响。控制器所需的计算时间也小，适合于实时控制。
This work investigates traffic control via controlled connected and autonomous vehicles (CAVs) using novel controllers derived from the linear-quadratic regulator (LQR) theory. CAV-platoons are modeled as moving bottlenecks impacting the surrounding traffic with their speeds as control inputs. An iterative controller algorithm based on the LQR theory is proposed along with a variant that allows for penalizing abrupt changes in platoon speeds. The controllers use the Lighthill-Whitham-Richards (LWR) model implemented using an extended cell transmission model (CTM), which considers the capacity drop phenomenon for a realistic representation of traffic in congestion. The impact of various parameters of the proposed controller on the control performance is analyzed. The effectiveness of the proposed traffic control algorithms is tested using a traffic control example and compared with existing proportional-integral (PI) and model predictive control (MPC) controllers from the literature. A case study using the TransModeler traffic microsimulation software is conducted to test the usability of the proposed controller as well as existing controllers in a realistic setting and derive qualitative insights. It is observed that the proposed controller works well in both settings to mitigate the impact of the jam caused by a fixed bottleneck. The computation time required by the controller is also small, making it suitable for real-time control.